from launch import LaunchDescription
from launch_ros.actions import Node

def generate_launch_description():
    return LaunchDescription([
        Node(
            package='socket_bridge',
            executable='drone_whole_state_receiver',
            name='drone_whole_state_receiver',
            output='screen',
            # parameters=[
            #     {'host': '0.0.0.0'},
            #     {'port': 12345}
            # ]
        ),
        Node(
            package='socket_bridge',
            executable='gcs_cmd_publisher',
            name='gcs_cmd_publisher',
            output='screen',
            parameters=[
                # {'target_ip': '192.168.18.29'},
                {'target_ip': '192.168.6.6'},
                {'target_port': 12347}
            ]
        )
    ])

if __name__ == '__main__':
    generate_launch_description()
